version: 66.11
glider: 167
mission: 14
dive: 289
start: 12 20 112 15 26 11
data:
$ID,167
$MISSION,14
$DIVE,289
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,120
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,410
$T_MISSION,390
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-8
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52251
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-969187.25
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,134
$PITCH_MAX,3944
$C_PITCH,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.02
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2968
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,21
$MINV_10V,9
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-16.305099
$PRESSURE_SLOPE,0.0001158971
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043364335
$SEABIRD_T_H,0.00062881975
$SEABIRD_T_I,2.1970176e-05
$SEABIRD_T_J,2.0625448e-06
$SEABIRD_C_G,-9.8829851
$SEABIRD_C_H,1.104416
$SEABIRD_C_I,-0.0016111456
$SEABIRD_C_J,0.00020720487
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,201212,151835,2328.771,12351.288,33,0.9,33,-3.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-67.6
$GPS2,201212,152543,2328.830,12351.162,4,1.0,4,-3.7
$SPEED_LIMITS,0.139,0.259
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,137.4,220599,-13.8,-8.049,-17.28
$D_GRID,3469
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.66,-171.1,0.0,0.0,0,72,0.00,0.00,-50.67,0.000,2,0.000,0.000,110,2463,2673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.66,-171.1,3.3,-4.6,5,118,9.43,2.15,-23.67,0.000,4,0.220,0.043,2451,1050,3668,0,0,0,0,0,0,25.00,26.15,26.65
$GC,266,-0.66,-171.1,31.9,-15.5,23,273,0.00,2.10,0.00,0.000,6,0.000,0.034,2451,2442,3670,0,0,0,0,0,0,28.83,26.18,28.83
$GC,583,-0.66,-171.1,84.4,-17.3,45,588,0.00,2.05,0.00,0.000,4,0.000,0.048,2444,3765,3670,0,0,0,0,0,0,28.83,26.11,28.83
$GC,635,-0.66,-171.1,92.1,-17.5,47,641,0.00,1.88,0.00,0.000,6,0.000,0.018,2444,2416,3670,0,0,0,0,0,0,28.83,26.53,28.83
$GC,950,-0.66,-171.1,137.8,-11.8,63,951,0.00,0.00,0.00,0.000,6,0.000,0.000,2445,2416,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1252,-0.66,-171.1,168.7,-10.6,78,1258,0.00,1.92,0.00,0.000,4,0.000,0.028,2444,1073,3671,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1300,-0.66,-171.1,174.3,-11.4,80,1305,0.00,2.05,0.00,0.000,6,0.000,0.032,2438,2454,3671,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1618,-0.66,-171.1,213.8,-12.1,96,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2454,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1921,-0.66,-171.1,248.6,-11.3,111,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2455,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2220,-0.66,-171.1,281.0,-10.2,126,2225,0.00,2.00,0.00,0.000,4,0.000,0.028,2440,1080,3671,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2264,-0.66,-171.1,285.8,-10.5,128,2269,0.00,2.08,0.00,0.000,6,0.000,0.039,2439,2458,3671,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2586,-0.66,-171.1,319.8,-10.4,144,2592,0.00,2.00,0.00,0.000,4,0.000,0.048,2438,3763,3671,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2614,-0.66,-171.1,322.4,-10.6,145,2619,0.00,1.83,0.00,0.000,6,0.000,0.018,2438,2444,3671,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2932,-0.66,-171.1,358.3,-11.0,161,2937,0.00,1.98,0.00,0.000,4,0.000,0.028,2438,1079,3670,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2979,-0.66,-171.1,363.1,-11.1,163,2985,0.00,2.05,0.00,0.000,6,0.000,0.033,2437,2452,3670,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3298,-0.66,-171.1,398.0,-10.8,179,3303,0.00,2.00,0.00,0.000,4,0.000,0.049,2438,3753,3669,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3390,-0.66,-171.1,407.7,-11.7,183,3396,0.00,1.80,0.00,0.000,6,0.000,0.018,2438,2451,3669,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3704,-0.66,-171.1,443.7,-10.5,199,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2450,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4005,-0.66,-171.1,470.4,-8.3,214,4011,0.00,1.98,0.00,0.000,4,0.000,0.028,2437,1079,3666,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4078,-0.66,-171.1,476.0,-8.6,217,4084,0.00,2.08,0.00,0.000,6,0.000,0.033,2438,2456,3666,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4391,-0.66,-171.1,503.9,-9.2,233,4396,0.00,2.00,0.00,0.000,4,0.000,0.049,2438,3754,3665,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4449,-0.66,-171.1,508.2,-9.7,235,4456,0.00,1.85,0.00,0.000,6,0.000,0.019,2438,2430,3664,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4754,-0.66,-171.1,542.1,-10.7,251,4759,0.00,1.92,0.00,0.000,4,0.000,0.028,2438,1093,3663,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4787,-0.66,-171.1,544.6,-10.8,252,4793,0.00,2.03,0.00,0.000,6,0.000,0.033,2441,2452,3663,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5101,-0.66,-171.1,578.1,-9.8,268,5106,0.00,2.03,0.00,0.000,4,0.000,0.050,2438,3760,3662,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5159,-0.66,-171.1,582.3,-9.9,270,5166,0.00,1.83,0.00,0.000,6,0.000,0.020,2437,2449,3661,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5466,-0.66,-171.1,612.6,-9.7,284,5467,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2449,3660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5765,-0.66,-171.1,643.2,-9.9,294,5771,0.00,2.05,0.00,0.000,4,0.000,0.051,2437,3752,3657,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5862,-0.66,-171.1,652.2,-9.4,297,5867,0.00,1.83,0.00,0.000,6,0.000,0.021,2438,2459,3656,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6193,-0.66,-171.1,679.1,-7.7,308,6194,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2459,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6490,-0.66,-171.1,705.5,-9.1,318,6496,0.00,2.03,0.00,0.000,4,0.000,0.029,2437,1082,3652,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6578,-0.66,-171.1,711.8,-9.6,320,6585,0.00,2.05,0.00,0.000,6,0.000,0.034,2437,2447,3652,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6884,-0.66,-171.1,745.8,-10.4,331,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2448,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7184,-0.66,-171.1,775.8,-9.7,341,7189,0.00,2.05,0.00,0.000,4,0.000,0.053,2438,3755,3648,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7242,-0.66,-171.1,778.9,-9.6,342,7249,0.00,1.85,0.00,0.000,6,0.000,0.021,2437,2433,3647,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7547,-0.66,-171.1,806.6,-7.8,353,7548,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2432,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7847,-0.66,-171.1,828.0,-7.0,363,7852,0.00,2.12,0.00,0.000,4,0.000,0.054,2438,3759,3644,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7895,-0.66,-171.1,830.3,-7.0,364,7900,0.00,1.88,0.00,0.000,6,0.000,0.022,2437,2443,3643,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8215,-0.66,-171.1,852.4,-6.7,375,8221,0.00,2.10,0.00,0.000,4,0.000,0.057,2438,3752,3642,0,0,0,0,0,0,28.83,25.70,28.83
$GC,8244,-0.66,-171.1,852.4,-6.7,375,8251,0.00,1.85,0.00,0.000,6,0.000,0.023,2438,2441,3642,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8549,-0.66,-171.1,875.9,-7.1,386,8555,0.00,2.10,0.00,0.000,4,0.000,0.054,2437,3756,3640,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8573,-0.66,-171.1,875.9,-7.1,386,8578,0.00,1.85,0.00,0.000,6,0.000,0.023,2438,2454,3640,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8887,-0.66,-171.1,902.6,-8.2,397,8893,0.00,2.08,0.00,0.000,4,0.000,0.053,2437,3755,3638,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8925,-0.66,-171.1,905.6,-8.2,398,8930,0.00,1.85,0.00,0.000,6,0.000,0.023,2437,2450,3638,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9255,-0.66,-171.1,933.0,-8.2,409,9260,0.00,2.08,0.00,0.000,4,0.000,0.053,2438,3752,3637,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9292,-0.66,-171.1,935.8,-8.1,410,9298,0.00,1.85,0.00,0.000,6,0.000,0.023,2437,2457,3637,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9622,-0.66,-171.1,963.9,-8.7,421,9623,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2456,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9921,-0.66,-171.1,989.4,-8.5,431,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2456,3634,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9948,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9948,begin apogee
$GC,9954,-0.27,0.0,991.9,-8.4,432,10116,0.45,0.00,151.75,1.285,6,0.108,0.000,2585,2196,2963,0,0,0,0,0,0,25.67,28.83,22.63
$STATE,10118,end apogee,CONTROL_FINISHED_OK
$STATE,10118,begin climb
$GC,10120,0.66,171.1,998.6,0.0,437,10291,0.88,2.28,161.62,1.281,4,0.074,0.037,2885,844,2262,0,0,0,0,0,0,24.63,23.92,22.25
$GC,10390,0.66,171.1,984.5,8.9,446,10395,0.00,2.12,0.00,0.000,6,0.000,0.033,2884,2204,2251,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10710,0.66,171.1,952.5,9.7,457,10716,0.00,2.20,0.00,0.000,4,0.000,0.049,2885,3602,2246,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10753,0.66,171.1,948.6,10.0,458,10758,0.00,2.05,0.00,0.000,6,0.000,0.027,2893,2218,2246,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11078,0.66,171.1,912.3,11.2,469,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2218,2245,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11376,0.66,171.1,876.5,11.9,479,11381,0.00,2.20,0.00,0.000,4,0.000,0.049,2893,3596,2244,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11410,0.66,171.1,872.2,12.2,480,11415,0.00,2.08,0.00,0.000,6,0.000,0.028,2900,2203,2244,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11746,0.66,171.1,834.0,10.8,491,11751,0.00,2.10,0.00,0.000,4,0.000,0.039,2910,809,2243,0,0,0,0,0,0,28.83,26.21,28.83
$GC,11762,0.66,171.1,834.0,10.8,491,11768,0.00,2.10,0.00,0.000,6,0.000,0.033,2910,2207,2243,0,0,0,0,0,0,28.83,26.28,28.83
$GC,12083,0.66,171.1,798.6,10.4,502,12088,0.00,2.20,0.00,0.000,4,0.000,0.049,2910,3607,2242,0,0,0,0,0,0,28.83,26.10,28.83
$GC,12117,0.66,171.1,794.6,10.6,503,12122,0.00,2.10,0.00,0.000,6,0.000,0.028,2919,2194,2243,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12451,0.66,171.1,755.2,12.1,514,12457,0.00,2.22,0.00,0.000,4,0.000,0.048,2918,3597,2242,0,0,0,0,0,0,28.83,26.03,28.83
$GC,12478,0.66,171.1,755.2,12.1,514,12486,0.15,2.08,0.00,0.000,6,0.169,0.028,2889,2194,2242,0,0,0,0,0,0,25.86,26.36,28.83
$GC,12787,0.66,171.1,719.2,10.1,525,12792,0.00,2.10,0.00,0.000,4,0.000,0.038,2899,804,2241,0,0,0,0,0,0,28.83,26.16,28.83
$GC,12864,0.66,171.1,712.8,9.8,527,12869,0.00,2.12,0.00,0.000,6,0.000,0.033,2899,2205,2238,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,20584,end climb,SURFACE_DEPTH_REACHED
$STATE,20584,begin surface coast
$FINISH,0.9,1.012458
$STATE,20607,end surface coast,CONTROL_FINISHED_OK
$STATE,20607,begin surface
$SM_CCo,20685,0.00,0.000,0,0,1289,411.86
$SM_GC,1.75,7.35,0.35,0.00,0.028,0.046,0.000,112,2463,1289,-7.91,-1.27,411.86,0,0,0,0,0,0,26.31,26.46,28.83
$IRIDIUM_FIX,2319.18,12351.18,201212,090903
$TT8_MAMPS,0.028462,0.028462
$HUMID,52.32
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,25.10
$XPDR_PINGS,10
$24V_AH,22.2,63.289
$10V_AH,10.1,41.162
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.725,181.775,463.050,0.000,0.000,0.000,0.000,242.800,2.500,0.000,5.482,2988.981,14544.224,631.621,2497.452,446.033,0.000,2117.215,0.000,2192.626,0.000,0.541,0.000
$DEVICE_MAMPS,219.555,57.375,1285.200,0.000,0.000,0.000,0.000,126.990,420.000,0.000,26.220,14.710,2.190,14.710,37.930,44.670,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20622.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.892,0.000,0.000,0.000
$MEM,329552
$DATA_FILE_SIZE,33406,909
$CAP_FILE_SIZE,217246,0
$CFSIZE,260165632,221069312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.191,277.7,1
$GPS,201212,211222,2327.267,12350.990,27,1.8,42,-3.7